Sampling-Based Retraction Method for Improving the Quality of Mobile Robot Path Planning

被引：12

作者：

Park, Byungjae ^{[1
]}

Choi, Jinwoo ^{[1
]}

Chung, Wan Kyun ^{[1
,2
]}

机构：

[1] POSTECH, Dept Mech Engn, Robot Lab, Pohang, South Korea

[2] POSTECH, Sch Mech Engn, Pohang, South Korea

来源：

INTERNATIONAL JOURNAL OF CONTROL AUTOMATION AND SYSTEMS | 2012年 / 10卷 / 05期

基金：

新加坡国家研究基金会;

关键词：

Mobile robot; navigation; probabilistic roadmap; ROADMAPS; COMPLEX;

D O I：

10.1007/s12555-012-0515-1

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper presents a method for improving the quality of the initial path produced by the probabilistic roadmap (PRM)-based mobile robot path planner. The sampling-based retraction method modifies the initial path to achieve approximate maximum safety by removing unsafe and redundant sections. The updated directions and distances of the waypoints on the initial path are determined by approximately modeling clearances around the initial paths using random samples. The proposed method can control the update speed to induce smooth convergence. The performance of the proposed method was verified by simulation.

引用

页码：982 / 991

页数：10

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